Smooth surfaced flexible and stretchable skin for covering robotic arms in restaurant and food preparation applications

ABSTRACT

A sleeve apparatus for protecting a robotic kitchen arm from contamination. The sleeve includes a proximal end, a distal end, a passageway extending from the proximal end to the distal end, and an exterior surface. The passageway has an effective diameter less than the effective diameter of the robotic kitchen arm such that the exterior surface of the sleeve apparatus is substantially fold-free when the robotic arm is in the extended configuration. Methods of cleaning a robotic kitchen arm are also described.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of U.S. Provisional Application No.62/662,120, entitled “Smooth surfaced flexible and stretchable skin forcovering robotic arms in restaurant and food preparation applications”,and filed Apr. 24, 2018, the entire contents of which is incorporated byreference.

BACKGROUND

This relates to food preparation equipment, and more particularly toautomated kitchen apparatus for manipulating food items.

Automating food preparation is desirable to increase efficiency,increase accuracy, and to reduce cost. To this end, robotic kitchenassistants (RKA) have been employed to manage the food preparation incommercial and restaurant kitchen environments. Using a robotic kitchenautomation tool, the robotic arm performs a range of food preparationtasks such as, for example, placing food items onto a grill surface;flipping food items on a grill surface; removing food items from a grillsurface; and cleaning the grill surface. Examples of RKAs and particulartasks performed by the RKAs are described in the following patentapplications, each of which is incorporated by reference in theirentirety: PCT Patent Application No: PCT/US18/21066, entitled “ROBOTICKITCHEN ASSISTANT FOR PREPARING FOOD ITEMS IN A COMMERCIAL KITCHEN ANDRELATED METHODS”, filed Mar. 6, 2018; PCT Patent Application No:PCT/US18/20948, entitled “AUGMENTED REALITY-ENHANCED FOOD PREPARATIONSYSTEM AND RELATED METHODS”, filed Mar. 5, 2018; and Provisional No.62/592,130, entitled “AN INFRARED-BASED AUTOMATED KITCHEN ASSISTANTSYSTEM FOR RECOGNIZING AND PREPARING FOOD AND RELATED METHODS”, filedNov. 29, 2017″.

Despite the above, a challenge for robotic applications in the foodhandling and restaurant industries is cleanliness. Cleanliness ofsurfaces is critical for preventing contamination of food items. Thechallenge arises because it is not uncommon for food particles andliquids to be deposited on the surface of the robot arm during foodpreparation processes. These particles and liquids may contain bacteriaor other illness causing substances or they may create deposits wheresuch substances can collect and grow.

In restaurant and other food service environments, such as the ones inwhich the robotic kitchen assistant operates, the cleaning requirementsare especially important because the methods that may be employed toclean various types of kitchen equipment are often very limited ascompared to those available to the industrial environments in whichrobots typically operate. Specifically, and by way of example, inindustrial environments, high pressure water and high pressure waterthat also contains cleaning compounds such as detergents, biocides, andabrasives, may be pressure-sprayed onto equipment to clean. Suchhigh-pressure streams remove materials and substances even from recessedareas of equipment, such as those that are typically present at rotatingjoints. Furthermore, by carefully selecting the composition of a finalspray, such streams are able to effectively remove and flush out anybiocides and cleaning agents used during the cleaning process.

In contrast, such methods are not employed, either because they are notpractical or are specifically forbidden by regulation, in the restaurantand food service environments. In the restaurant and food serviceenvironments, a “wipe down” approach is often employed, in which wateror a cleaning agent is applied to a cleaning cloth or sponge and thenused to wipe the surface of the item to be cleaned. Alternatively, theitem to be cleaned may be sprayed directly with the water or cleaningagent at low pressure, typically from a hand-operated spray bottle, andthen wiped. The resulting wiping action and, in some cases, the directlow pressure spray, have a limited ability to reach and remove materialsand substances that may be present in any folds or recesses that may bepresent in items to be cleaned.

Further, a wipe down is not able to remove chemical residues ascompletely as a high pressure spray down, which limits the strength ofthe cleaning agents and biocides that can be employed, as these agentsmust be removed prior to using the equipment in food preparationapplications. As a result, robotic arms employed in restaurant or foodservice applications, where only wipe down cleaning is available, cannoteffectively be cleaned.

In addition to ensuring the robotic arm can be cleaned effectively, itis also important to prevent contamination of food items by substancesthat might be emitted from the robot arm and become incorporated intofood items. Such substances include lubrication oils and metallicparticles. These substances could be harmful if ingested by humans.

Examples of coverings and sleeves are described in prior patentsincluding U.S. Pat. No. 5,184,601 to Putman; U.S. Pat. No. 5,522,791 toLeyva; U.S. Pat. No. 7,727,244 to Orban et al.; U.S. Pat. No. 7,947,050to Lee et al.; and U.S. Pat. No. 9,743,987 to Farritor; as well as U.S.Patent Publication No. 20170334084 to Hogg, each of which isincorporated by reference in its entirety.

Notwithstanding the above, it is still desirable to overcome thechallenges and shortcomings described above.

SUMMARY OF THE INVENTION

Embodiments of the invention are directed to a skin or sleeve sized tocover a robotic arm to enable safe handling and preparation of fooditems in a restaurant or food service environment.

In embodiments, a sleeve apparatus for protecting a robotic kitchen armfrom contamination includes a body comprising a proximal end, a distalend, a passageway extending from the proximal end to the distal end, andan exterior surface. The passageway has an effective diameter less thanthe effective diameter of the robotic kitchen arm such that (a) theexterior surface of the sleeve apparatus is substantially fold-free whenthe robotic arm is in the extended configuration, and (b) the exteriorsurface of the sleeve apparatus comprises at least one fold when therobotic kitchen arm is in the bent configuration.

In embodiments, the body comprises a first layer, and a second layercovering the first layer, and the second layer is made of a liquid-proofelastic polymer.

In embodiments, the first layer has a greater thickness and is lesselastic than the second layer.

In embodiments, the exterior surface has a surface roughness less thanor equal to 250 μin.

In embodiments, the body has a modulus of elasticity of less than 100kPa.

In embodiments, the passageway has a total length ranging from 36 to 70inches, and an effective diameter in the range from 3-12 inches.

In embodiments, the exterior surface comprises a biocide coating.

In embodiments, the sleeve apparatus further comprises the robotickitchen arm.

In embodiments, the body is formed of at least two tubular sections, andadjacent tubular sections overlap.

In embodiments, the effective diameter of the robotic kitchen arm variesalong its length and the effective diameter of the passageway variesalong its length to accommodate the varying effective diameter of therobotic kitchen arm.

In embodiments, an undersized ratio of the effective diameter of thepassageway to the effective diameter of the robotic kitchen arm at anypoint along the length of the robotic kitchen arm ranges from 0.5%-3%.

In embodiments, the robotic kitchen arm and sleeve include at least twojoints.

In embodiments, the sleeve apparatus further includes a compressionelement at the proximal end of the body.

In embodiments, a method of cleaning a robotic kitchen arm comprisesenclosing the robotic kitchen arm with a sleeve; manipulating the sleeveinto a target configuration for cleaning while the sleeve encloses therobotic kitchen arm, the target configuration being fold-less along theexterior surface; and wiping down the exterior surface of the sleevewhile the sleeve is enclosing the robotic kitchen arm.

In embodiments, the method further comprises preparing food using therobotic kitchen arm prior to the step of manipulating, and wherein thestep of preparing food comprises articulating the robotic kitchen arminto at least one bent configuration such that at least one fold arisesalong a portion of the sleeve.

In embodiments, the step of manipulating is performed by straighteningthe robotic kitchen arm subsequent to the step of preparing the fooduntil the at least one fold is eliminated.

In embodiments, the passageway comprises an effective diameter less thanan outer diameter of the robotic kitchen arm, such that the sleeve isstretched while enclosing the robotic kitchen arm.

In embodiments, a sleeve apparatus for protecting a robotic kitchen armfrom contamination comprises a body comprising a proximal end, a distalend, a passageway extending from the proximal end to the distal end, andan exterior surface. The body has a sizing such that the passageway hasan effective diameter equal to or less than the effective diameter ofthe robotic kitchen arm.

In embodiments, the body is formed of at least two tubular sectionswherein adjacent tubular sections overlap.

In embodiments, the sleeve apparatus has an effective diameter such thatthe exterior surface is entirely fold-free along its length when therobotic arm is in an extended or straightened configuration.

In embodiments, the skin is sized relative to the robotic kitchen armsuch that tension is present in at least one area of the skin. Inembodiments, the skin is sized such that tension is present in at leastthe majority of the skin material. In embodiments, the skin is sizedsuch that tension is present in at least one direction in all areas ofthe skin.

The description, objects and advantages of embodiments of the presentinvention will become apparent from the detailed description to follow,together with the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

The above-mentioned aspects, as well as other features, aspects andadvantages of the present technology will now be described in connectionwith various embodiments, with reference to the accompanying drawings.The illustrated embodiments, however, are merely examples and are notintended to be limiting. Throughout the drawings, similar symbolstypically identify similar components, unless context dictatesotherwise.

FIG. 1A is perspective view of a robotic kitchen arm enclosed in a skinin a bent orientation in accordance with an embodiment of the invention;

FIG. 1B is a perspective view of the robotic kitchen arm and skin shownin an extended orientation in accordance with an embodiment of theinvention;

FIG. 2A is a front view of a robotic arm skin shown in an extendedposition;

FIG. 2B is a first side view of the robotic arm skin shown in FIG. 2A;

FIG. 2C is a top view of the robotic arm skin shown in FIG. 2A;

FIG. 2D is a rear view of the robotic arm skin shown in FIG. 2A;

FIG. 3 is a perspective view of another robotic kitchen arm and sleeveshown in a bent configuration;

FIG. 4 is a perspective view of another robotic kitchen arm and sleeveshown in an extended configuration;

FIG. 5 is a perspective view of another robotic kitchen arm andmulti-layered sleeve shown in an extended configuration; and

FIG. 6 shows a cross sectional view of another robotic kitchen arm andsleeve comprising overlapping sections.

DETAILED DESCRIPTION

It is to be understood that the embodiments of the invention describedherein are not limited to particular variations set forth herein asvarious changes or modifications may be made to the embodiments of theinvention described and equivalents may be substituted without departingfrom the spirit and scope of the embodiments of the invention. As willbe apparent to those of skill in the art upon reading this disclosure,each of the individual embodiments described and illustrated herein hasdiscrete components and features that may be readily separated from orcombined with the features of any of the other several embodimentswithout departing from the scope or spirit of the embodiments of thepresent invention. In addition, many modifications may be made to adapta particular situation, material, composition of matter, process,process act(s) or step(s) to the objective(s), spirit or scope of theembodiments of the present invention. All such modifications areintended to be within the scope of the claims made herein.

Moreover, while methods may be depicted in the drawings or described inthe specification in a particular order, such methods need not beperformed in the particular order shown or in sequential order, and thatall methods need not be performed, to achieve desirable results. Othermethods that are not depicted or described can be incorporated in theexample methods and processes. For example, one or more additionalmethods can be performed before, after, simultaneously, or between anyof the described methods. Further, the methods may be rearranged orreordered in other implementations. Also, the separation of varioussystem components in the implementations described above should not beunderstood as requiring such separation in all implementations, and itshould be understood that the described components and systems cangenerally be integrated together in a single product or packaged intomultiple products. Additionally, other implementations are within thescope of this disclosure.

Conditional language, such as “can,” “could,” “might,” or “may,” unlessspecifically stated otherwise, or otherwise understood within thecontext as used, is generally intended to convey that certainembodiments include or do not include, certain features, elements,and/or steps. Thus, such conditional language is not generally intendedto imply that features, elements, and/or steps are in any way requiredfor one or more embodiments.

Reference to a singular item, includes the possibility that there areplural of the same items present. More specifically, as used herein andin the appended claims, the singular forms “a,” “an,” “said” and “the”include plural referents unless the context clearly dictates otherwise.It is further noted that the claims may be drafted to exclude anyoptional element. As such, this statement is intended to serve asantecedent basis for use of such exclusive terminology as “solely,”“only” and the like in connection with the recitation of claim elements,or use of a “negative” limitation.

It will also be understood that, although the terms first, second, etc.may be used herein to describe various elements, these elements shouldnot be limited by these terms. These terms are only used to distinguishone element from another. Thus, a first element could be termed a secondelement without departing from the teachings of the present invention.

While a number of embodiments and variations thereof have been describedin detail, other modifications and methods of using the same will beapparent to those of skill in the art. Accordingly, it should beunderstood that various applications, modifications, materials, andsubstitutions can be made of equivalents without departing from theunique and inventive disclosure herein or the scope of the claims.

All existing subject matter mentioned herein (e.g., publications,patents, patent applications and hardware) is incorporated by referenceherein in its entirety except insofar as the subject matter may conflictwith that of the present invention (in which case what is present hereinshall prevail).

The following patents and applications are incorporated by reference intheir entirety: PCT Publication No. 2018165105, entitled “ROBOTICKITCHEN ASSISTANT FOR PREPARING FOOD ITEMS IN A COMMERCIAL KITCHEN ANDRELATED METHODS”, filed Mar. 6, 2018; PCT Publication No. 2018165038,entitled “AUGMENTED REALITY-ENHANCED FOOD PREPARATION SYSTEM AND RELATEDMETHODS”, filed Mar. 5, 2018; US Publication No. 20180345485, entitled“MULTI-SENSOR ARRAY INCLUDING AN IR CAMERA AS PART OF AN AUTOMATEDKITCHEN ASSISTANT SYSTEM FOR RECOGNIZING AND PREPARING FOOD AND RELATEDMETHODS”, filed Aug. 10, 2018.

FIG. 1A illustrates a skin or sleeve 20 covering a robotic kitchen arm30 in a bent, operative, or contracted configuration. The sleeve ispreferably flexible, stretchable, form-fitting, and smooth-surfaced. Asdescribed herein, sleeve 20 provides an exterior surface that can beeffectively cleaned using a traditional restaurant “wipe down” process.

The composition of the skin 20 may vary. In embodiments, the skin iscomprised of a food safe material as defined in specifications offeredby regulatory bodies such as the Food & Drug Administration (FDA).Examples of materials include, without limitation, silicone, neoprene,natural or synthetic rubbers, polyurethane rubber, Buna-N rubber,thermoplastic rubber, polyurethane, silicone rubber, silicone coatedpolyester, vinyl, coated polyester, and latex.

In a preferred embodiment, the skin is fabricated from a smooth-surfacedneoprene film, such as the 5 mm neoprene manufactured by MacroInternational (Irvine, Calif.). In another embodiment, the skin is madefrom other materials or combinations of other materials. In embodiments,the skin materials are cast from a mold directly into the desired skinshape, thereby eliminating the need for stitching which, as mentionedabove, should not be exposed directly in food preparation applications.An example of a desired skin shape for casting is the extended armconfiguration shown in FIG. 1B.

The texture of the skin 20 may vary. In embodiments, the surfaceroughness of the skin is sufficiently low, serving to preventfood-related materials to attach themselves to the surface. In oneembodiment, the surface roughness is less than 250 μm.

The size of the skin 20 may vary. In embodiments, the skin is sized suchthat its material is completely or predominately in tension after it isapplied to the robot arm at at least one configuration/orientation inthe robot arm's range of motion (e.g., the extended configuration shownin FIG. 1B). Without intending to being bound to theory, such tensionensures that the cover is smooth and without folds (or wrinkles) at atleast one configuration in the robot's arm range of motion to ensurethat the cover can be easily wiped down with a cleaning cloth to removeforeign materials and substances.

In embodiments, the inner dimensions of the cover are smaller than thecorresponding outer dimension or effective diameter of the robotickitchen arm. The degree that the cover is smaller than the robotic armcan be expressed as an undersized ratio. In embodiments, the undersizedratio ranges from 0.1% to 10%, preferably, 0.5%-3%, or 1-3% depending onthe material that the skin is manufactured from. For a relatively moreelastic material, the undersize ratio is larger.

It is also contemplated that the effective diameter of the robotickitchen arm (as well as cross sectional shape) changes along the lengthof the robotic arm, and in embodiments of the invention, the diameter(and cross sectional shape) of the skin matches (or is less than) thecross sectional profile of the robotic kitchen arm in accordance withthe ratios and dimensions described herein.

An example of a robotic arm for use with the sleeve described herein isthe LR MATE 200iD/7LC manufactured by FANUC America Corporation(Rochester Hills, Mich.). It includes a payload of 7 kg, 6 axes, and areach of 911 mm. Additional non-limiting examples of robotic arms andcorresponding descriptions of the robotic arms for use with the subjectinvention can be found at: www.fanucamerica.com. However, the abovereferenced robotic arm, and specifications are only exemplary in nature,and the sleeve may be utilized and sized as described herein to protecta wide variety of other robotic arms. Other robot products and arms canbe obtained from various manufacturers such as, for example, Kuka,Fanuc, Universal Robots, ABB, and Panasonic.

The elasticity of the skin 20 may vary. In embodiments, the modulus ofelasticity of the skin is sufficiently low such that it does notinterfere with operation of the robotic arm. In embodiments, the modulusof elasticity of the skin is less than 100 kPa.

The skin may be fabricated in various manners. In a preferredembodiment, the skin is fabricated from a mold of the robotic kitchenarm while in an extended configuration. However, the invention is not solimited. In other embodiments, the skin is fabricated from sheets ofneoprene that have been stitched together to form a close-fitting coverfor the robot arm. The stitched form is then turned inside out and theouter joints welded or glued together. In this way, the stitching withits intricate surface and many recesses that could collect foodparticles, are not exposed to the food preparation environment.

FIG. 1B illustrates the skin 20 covering the robotic arm 30 in a secondor extended configuration in which there are no folds visible in theskin. Such a position would be used for cleaning (e.g., a wiping down)the skin covered robotic arm as described herein. In embodiments, theskin is clamped to the surface of the robotic arm on both ends 32, 34.

FIGS. 2A-2D illustrate the various engineering views of the skin 20 inan extended configuration with the robotic kitchen arm removed forclarity. Skin 20 is shown having an opening 22 at a distal end 34 for anend effector of a robotic arm (not shown) to extend therefrom. The outerprofile or cross section of the skin (or characteristic diameter) isshown varying along its length (L) from the proximal end 32 to thedistal end 34.

In embodiments, the diameters (D1, D3) at the arm joints range from 4 to12 in., more preferably from 8 to 10 in., and in one embodiment D1 andD3 are both 9 in.

In embodiments, the diameter (D2) outside the arm joints ranges from 3to 8 in., more preferably from 5 to 7 in., and in one embodiment D2 is 6in.

In embodiments, the wall thickness of the skin ranges from 3 to 7 mm.

In embodiments, the total length (L) of the skin ranges from 36 to 70in., more preferably from 50 to 60 in., and in one embodiment is 54 in.

FIG. 3 illustrates a skin 110 covering a robotic arm (not visible) in anoperative bent configuration. The skin 110 and robotic kitchen arm areshown in close proximity to the grill 140 and generally in an exemplaryposition for carrying out food preparation tasks.

Also shown in FIG. 3 are marked folds 120 at the joint 130. Notably,with reference to FIG. 4, folds 120 are not present at the extended armorientation shown in FIGS. 1B, and 2A-2D, and FIG. 4. As statedpreviously, folds prevent the skin from being cleaned by a wipe downtechnique. However, in accordance with embodiments of the presentinvention, the skin 110 is sized and sufficiently elastic such that itis fold-free when the robotic arm is manipulated to the extendedconfiguration as shown in, for example, FIG. 4. Consequently, the skin110 can be effectively cleaned when the robotic kitchen arm is placed ina configuration as shown in FIGS. 1B, 2A-2D, and 4.

ALTERNATE EMBODIMENTS

Though the invention has been described above having particularfeatures, the invention can include alternative embodiments.

For example, in one alternative embodiment, portions of the skin are notbe in tension and may contain folds. The skin is sized such that it doesnot have any folds over a first portion of its surface at a firstconfiguration, but does have folds at a second portion at this firstconfiguration. At a second configuration, however, the skin does nothave any folds at the second portion but has folds in the first portion.Further, in embodiments, the skin may be sized such that there is atleast one point/configuration in the operating range of the robotic armwhere there are no folds on a given portion or area of the skin. Theskin covered robot arm can be cleaned by moving it to a first position,cleaning a first portion that has no folds, and then moving to a secondposition, cleaning a second portion that now has no folds, and so on. Inembodiments, the arm may be programmed to automatically move to suchpoints and signal for an employee to clean its surface (or a partthereof) as part of an automated cleaning process.

In embodiments, the skin is tightly fitted to the robot arm at both endsto prevent any foreign materials from entering or leaving the volumebetween the skin and the robot arm. In embodiments, both ends of theskin are secured to the robotic arm using compression fittings. Inembodiments, air is pumped into the interface between the skin and armto help remove any folds and ensure effective cleaning. The air isremoved after the cleaning process is complete.

In embodiments, the skin is an articulated exoskeleton that is fittedover the robot arm. Joints of the exoskeleton are designed to becompliant with relevant food handling equipment specifications. Inembodiments, elastomer seals are used at the interfaces of theexoskeleton joints and deep recesses' are eliminated. In embodiments,the exoskeleton is made of a rigid material such as metal or plastic. Inembodiments, the exoskeleton can be completely removed with commonlyavailable tools for cleaning.

In embodiments, a rigid endoskeleton structure is used under the skin tocreate a geometry that reduces the likelihood of folds forming in theskin.

In embodiments, the skin is oversized. The skin is fabricated so thatit's inner dimensions match or are larger than the outer surface of therobot arm. In such embodiments, the flexural strength of the skinmaterial prevents folds in at least one orientation of the robot arm.

In embodiments, the skin is not form-fitting and is instead fabricatedwith bellows at the joints to allow for a wide range of motion of therobotic arm. The bellows and skin are sized such that there are pointsin the range of motion of the robot arm where all areas of the bellowsare sufficiently extended such that they do not fold over ontothemselves and are wipe down compliant. In embodiments, a flexible,compressible layer of material is placed under the skin with bellows toprevent or minimize the bellows from folding back on themselves, therebyaiding in cleaning.

In embodiments, the skin is not form fitting and is sized to be largerthan the robot arm. In such embodiments, the skin is not cleaned and issimply replaced.

In embodiments, the skin is comprised of multiple layers including anouter layer of food safe material. Inner layers are fabricated of othermaterials that serve different functions. For example, in an embodiment,the skin is comprised of at least two layers where the outer layer is afood safe, flexible material and the at least one inner layer is aflexible material serving to prevent the outer layer from forming foldsin at least one orientation of the robot arm.

In embodiments, the skin is comprised of an outer surface material of afirst thickness and a first modulus that is smooth and generallyaccepted for food handling applications. The skin further comprises asecond inner material that is disposed below the outer surface material.The second inner material has a second larger thickness and a lowermodulus than that of the first material. Optionally, in embodiments, theinner material is porous.

In operation, the outer surface material is maintained in a state oftension to prevent folds by sizing it such that the inner material isplaced in compression, which applies the necessary force to keep theouter surface material in tension. At rotating joints covered by such afilm, strain in the outer surface material as the joint rotates can bemitigated by compression of the inner material, thereby reducing theforce applied by the outer surface material to the robotic arm. Inembodiments, the thickness of the inner material is greater at joints inorder to allow such compression and reduce strain in the outer surfacematerial.

In embodiments, a low friction, stretch material such as a woven lycrais applied under the stretchable skin. In embodiments, such a materialreduces folds in the skin. In embodiments, such a material also reducesthe strain in the skin associated with a given motion of the robot armthereby reducing the force applied by the skin to the robotic arm.

In embodiments, this low friction material enables relative motionbetween the skin and the robotic arm, thereby improving the ability ofthe skin to remain in tension over a wider range of operating points ofthe robotic arm. Without intending to being bound by theory, the lowfriction material and resulting enablement of relative motion betweenthe skin and robotic arm, for a given change in the orientation of ajoint of the robot arm, makes available a larger area of the skin tostretch to accommodate the change in position.

With reference to FIG. 5, an outer, thin, stretchable skin 210 is shownsurrounding a thicker, less stretchable, underlayer 220 to create a duallayer structure. In embodiments, the thicker underlayer 220 effectivelysmoothes the surface features of the robotic arm 230 and enables greaterrelative motion between the outer layer and the robotic arm. The examplestructure shown in FIG. 5 is a highly stretchable skin placed over athicker skin 220 (e.g., neoprene) to prevent folds from forming at thejoints and to enable an effective wipe down.

In embodiments, the skin is a disposable cover that is applied to andremoved from the arm on a frequent basis. In embodiments, the roboticarm is covered with both a disposable skin and a non-disposable skin.

In embodiments, biocides are impregnated into the outer surface of theskin to reduce the presence of potentially harmful bacteria and othercauses of illness. Examples of such biocides include silvernanoparticles, platinum nanoparticles, and other nanostructuredmaterials. In embodiments, the surface of the skin can be heated forsimilar effect.

In embodiments, a skin assembly comprises a skin and an endcap for theactuator end. For example, the skin can be fabricated with a continuousend cap of the same material with a hole in the center for the endeffector. The skin end cap is secured to the robotic arm using an endcap of a rigid material such as steel or aluminum that is attached overa portion of the skin end cap.

In embodiments, the skin has a closure along at least a portion of itslength that can be opened. In embodiments, opening the closure rendersthe skin easier to place over the robotic arm. In embodiments, theclosure is comprised of a Ziploc-type seal.

With reference to FIG. 6, another sleeve 300 is shown covering a roboticarm 310. Sleeve 300 is shown having two separate components 320, 330 toreduce the number of folds formed when the robot is moving. Each sleevecomponent 320 overlaps the preceding sleeve component 330 similar to aset of tiles. The overlapping sleeves 320, 330 form a closed seam 340that can freely rotate at each intersection that allows water or anysubstance to run off the sleeve without seeping into any cracks orcrevices. This closed seam 340 is formed by an elastic force in thesleeve 320 around the sleeve 330 underneath. The closed seam may overlapvarying amounts, and in embodiments, the overlap ranges from 4 to 8 in.Although the sleeve 300 is shown in FIG. 6 having two sections,embodiments of the invention may include numerous overlappingcomponents. In embodiments, the number of tiles or shingles range from2-8, and more preferably 3-6. The sleeve components can be made out ofthe same materials as previously stated and have similar sizes to thatdescribed herein.

Many modifications and variations of the present invention are possiblein light of the above teachings. It is therefore to be understood thatwithin the scope of the appended claims the invention may be practicedotherwise than as specifically described.

1. A sleeve apparatus for protecting a robotic kitchen arm fromcontamination, the robotic kitchen arm having an effective diameter andat least one joint such that the robotic arm can be manipulated betweena bent configuration and an extended configuration, the sleeve apparatuscomprising: a body comprising a proximal end, a distal end, a passagewayextending from the proximal end to the distal end, and an exteriorsurface; and wherein the passageway has an effective diameter less thanthe effective diameter of the robotic kitchen arm such that (a) theexterior surface of the sleeve apparatus is substantially fold-free whenthe robotic arm is in the extended configuration, and (b) the exteriorsurface of the sleeve apparatus comprises at least one fold when therobotic kitchen arm is in the bent configuration.
 2. The sleeveapparatus of claim 1, wherein the body comprises a first layer, and asecond layer covering the first layer, and wherein the second layer ismade of a liquid-proof elastic polymer.
 3. The sleeve apparatus of claim2, wherein the first layer has a greater thickness and is less elasticthan the second layer.
 4. The sleeve apparatus of claim 1, wherein theexterior surface has a surface roughness less than or equal to 250 μin.5. The sleeve apparatus of claim 1, wherein the body has a modulus ofelasticity of less than 100 kPa.
 6. The sleeve apparatus of claim 1,wherein the passageway has a total length ranging from 36 to 70 inches,and an effective diameter in the range from 3 to 12 inches.
 7. Thesleeve apparatus of claim 1, wherein the exterior surface comprises abiocide coating.
 8. The sleeve apparatus of claim 1, further comprisingthe robotic kitchen arm.
 9. The sleeve apparatus of claim 1, wherein thebody is formed of at least two tubular sections, and wherein adjacenttubular sections overlap.
 10. The sleeve apparatus of claim 1, whereinthe effective diameter of the robotic kitchen arm varies along itslength and wherein the effective diameter of the passageway varies alongits length to accommodate the varying effective diameter of the robotickitchen arm.
 11. The sleeve apparatus of claim 10, wherein an undersizedratio of the effective diameter of the passageway to the effectivediameter of the robotic kitchen arm at any point along the length of therobotic kitchen arm ranges from 0.5%-3%.
 12. The sleeve apparatus ofclaim 1, wherein said at least one joint comprises at least two joints.13. The sleeve apparatus of claim 1, further comprising a compressionelement at the proximal end of the body.
 14. A method of cleaning arobotic kitchen arm comprising: enclosing the robotic kitchen arm with asleeve, the sleeve having a passageway through which the robotic kitchenarm is advanced, and an exterior surface; manipulating the sleeve into atarget configuration for cleaning while the sleeve encloses the robotickitchen arm, the target configuration being fold-less along the exteriorsurface; and wiping down the exterior surface of the sleeve while thesleeve is enclosing the robotic kitchen arm.
 15. The method of claim 14,further comprising preparing food using the robotic kitchen arm prior tothe step of manipulating, and wherein the step of preparing foodcomprises articulating the robotic kitchen arm into at least one bentconfiguration such that at least one fold arises along a portion of thesleeve.
 16. The method of claim 15, wherein the step of manipulating isperformed by straightening the robotic kitchen arm subsequent to thestep of preparing the food until the at least one fold is eliminated.17. The method of claim 16, wherein the passageway comprises aneffective diameter less than an outer diameter of the robotic kitchenarm, such that the sleeve is stretched while enclosing the robotickitchen arm.
 18. A sleeve apparatus for protecting a robotic kitchen armfrom contamination, the robotic kitchen arm having an effective diameterand at least one joint such that the robotic arm can be manipulatedbetween a bent configuration and an extended configuration, the sleeveapparatus comprising: a body comprising a proximal end, a distal end, apassageway extending from the proximal end to the distal end, and anexterior surface wherein the body has a sizing such that the passagewayhas an effective diameter equal to or less than the effective diameterof the robotic kitchen arm.
 19. The sleeve apparatus of claim 18,wherein the body is formed of at least two tubular sections, and whereinadjacent tubular sections overlap.
 20. The sleeve apparatus of claim 18,wherein the sleeve apparatus has an effective diameter such that theexterior surface is entirely fold-free along its length when the roboticarm is in the extended configuration.